multi-contact locomotion

Algorithmic foundations of realizing multi-contact locomotion on the humanoid robot DURUS
This paper presents the meta-algorithmic approach used to realize multi-contact walking on the humanoid robot, DURUS. This systematic …
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Algorithmic foundations of realizing multi-contact locomotion on the humanoid robot DURUS
Multi-contact bipedal robotic locomotion
This paper presents a formal framework for achieving multi-contact bipedal robotic walking, and realizes this methodology …
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Multi-contact bipedal robotic locomotion
3D multi-contact gait design for prostheses: Hybrid system models, virtual constraints and two-step direct collocation
Virtual constraints have been recognized as an essential bridging tool which has the potential to translate rich nonlinear bipedal …
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3D multi-contact gait design for prostheses: Hybrid system models, virtual constraints and two-step direct collocation
Dynamic multi-domain bipedal walking with atrias through slip based human-inspired control
This paper presents a methodology for achieving efficient multi-domain underactuated bipedal walking on compliant robots by formally …
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Dynamic multi-domain bipedal walking with atrias through slip based human-inspired control